Dragline with robotic bucket for dredging and excavating

ABSTRACT

An excavation system may include a base unit, a boom mounted on the base unit, a pair of drag ropes coupled with the boom, and a robotic bucket mechanism attached to the pair of drag ropes. The robotic bucket mechanism may include an undercarriage drive, a chassis mounted on the undercarriage drive, an excavating bucket mounted on the chassis, a pair of hydraulic lift actuators coupled between the chassis and the excavating bucket at pivot points on both sides of the excavating bucket, and a hydraulic tilt actuator mounted between the chassis and a rear side of the excavating bucket.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation-in-part of international Application No. PCT/IB2021/051320, filed Feb. 2, 2021, and entitled “DRAGLINE WITH ROBOTIC BUCKET FOR DREDGING AND EXCAVATING,” which claims the benefit of priority from pending U.S. Provisional Patent Application Ser. No. 62/980,454, filed on Feb. 24, 2020, and entitled “A LOADER SYSTEM WITH A DETACHABLE ROBOTIC BUCKET,” which are both incorporated herein by reference in their entirety.

TECHNICAL FIELD

The present disclosure generally relates to dredging and excavating systems and mechanisms. The present disclosure particularly relates to an excavation system utilizing a combination of a dragline and a robotic bucket mechanism.

BACKGROUND

Dredging water environments, such as lakes and rivers is carried out for either recovering of a valuable material or making water deeper. Valuable materials that may be excavated from water environments may include, but are not limited to valuable mineral deposits, such as gold or diamonds. On the other hand, making water deeper by dredging may allow for creating deeper waterways for larger ships or maintaining existing waterways to prevent them from being silted due to sedimented sand and mud. Dredging rivers and waterways on a regular basis, especially for those rivers and waterways that have a higher risk of becoming shallow due to sand and mud sediments may prevent floods by increasing the depth of a river or a waterway and therefore increasing their capacity for carrying water.

Dredging may be carried out by utilizing suction dredging equipment that may suck the material through a long tube or by utilizing mechanical dredging equipment that basically utilizes buckets or grabbers to pick up or rip out the materials from riverbeds. Mechanical dredgers may include bucket or scoop dredgers that are equipped with a bucket or scoop that may pick up sediments or other materials form the riverbed. A dredger may also be configured as a track loader with a mechanical shovel that may be utilized to pick up the sedimented materials. Alternatively, a dredger may be configured as a dragline excavator.

A dragline excavator includes an excavation bucket suspended from a boom with lifting ropes. A bucket of a dragline excavator may be maneuvered by a series of drag or lift ropes and chains. An actuator, such as a powered winch or a hoist may be utilized to drag the excavating bucket on a riverbed to pick up sediments and deposits into the excavating bucket.

Such suction or mechanical excavators may have a few shortcomings that may limit their utilization. For example, a dragline excavator or a track loader with a mechanical bucket may only have a limited access to a riverbed, which may be an area with a radius of only a few meters from the shore. Consequently, most of these dragline excavators and loaders may not have enough access to deeper parts of a river or lake, which is far from the shore. Another drawback may be difficulty of transportation and installation, especially in case of large dragline excavators.

There is, therefore, a need for a more agile system for dredging and excavating water environments, such as rivers, lakes, and waterways that not only provides ease of use and accessibility, but also may provide a wider range of maneuverability and a smarter control over bucket positioning and orientation in a target environment, such as a riverbed.

SUMMARY

This summary is intended to provide an overview of the subject matter of the present disclosure and is not intended to identify essential elements or key elements of the subject matter, nor is it intended to be used to determine the scope of the claimed implementations. The proper scope of the present disclosure may be ascertained from the claims set forth below in view of the detailed description and the drawings.

According to one or more exemplary embodiments, the present disclosure is directed to an excavation system. An exemplary excavation system may include a base unit, a boom mounted on the base unit, a pair of drag ropes coupled with the boom, and a robotic bucket mechanism attached to the pair of drag ropes. An exemplary robotic bucket mechanism may include an undercarriage drive, a chassis mounted on the undercarriage drive, an excavating bucket mounted on the chassis, a pair of hydraulic lift actuators coupled between an exemplary chassis and an exemplary excavating bucket at pivot points on both sides of an exemplary excavating bucket, and a hydraulic tilt actuator mounted between an exemplary chassis and a rear side of an exemplary excavating bucket.

In an exemplary embodiment, an exemplary excavating bucket may include an outwardly convex back panel that may be enclosed on both sides by spaced parallel side panels and an open front with a lower cutting edge. Each exemplary drag rope of exemplary pair of drag ropes may be attached to a respective side of an exemplary open front. Exemplary pair of hydraulic lift actuators may be coupled between an exemplary chassis and exemplary spaced parallel side panels on opposite sides of an exemplary excavating bucket at pivot points on respective spaced parallel side panels. Exemplary pivot points may be aligned with each other along normal axes of exemplary spaced parallel side panels. Each hydraulic lift actuator of exemplary pair of hydraulic lift actuators may be extendable along an axis perpendicular to normal axes of exemplary spaced parallel side panels.

In an exemplary embodiment, an exemplary hydraulic tilt actuator may be mounted between an exemplary chassis and an exemplary outwardly convex back panel. An exemplary tilt hydraulic actuator may be configured to tilt an exemplary excavating bucket about a pivot axis defined by exemplary aligned pivot points.

In an exemplary embodiment, an exemplary boom may include a first pair of parallel elongated poles, where a first end of each elongated pole of exemplary first pair of parallel elongated poles may be pivotally coupled with a top flat surface of an exemplary mobile flatbed. In an exemplary embodiment, an exemplary boom may further include a second pair of parallel elongated poles, where a first end of each elongated pole of exemplary second pair of parallel elongated poles may be pivotally coupled with a second end of each corresponding elongated pole of exemplary first pair of parallel elongated poles.

In an exemplary embodiment, an exemplary boom may further include a first pair of linear actuators, where each linear actuator of exemplary first pair of linear actuators may be coupled between a top flat surface of an exemplary flatbed and a respective elongated pole of exemplary first pair of elongated poles. Exemplary first pair of linear actuators may be configured to actuate a rotational movement of an exemplary first pair of elongated pole relative to an exemplary top flat surface of an exemplary flatbed. In an exemplary embodiment, an exemplary boom may further include a second pair of linear actuators, where each linear actuator of an exemplary second pair of linear actuators may be coupled between each elongated pole of an exemplary second pair of parallel elongated poles and a respective elongated pole of an exemplary first pair of elongated poles. An exemplary second pair of linear actuators may be configured to actuate a rotational movement of an exemplary second pair of elongated poles relative to an exemplary first pair of elongated poles.

In an exemplary embodiment, an exemplary excavation system may further include a pair of cable drums that may be mounted on both sides of an exemplary base unit. Each cable drum of an exemplary pair of cable drums may be configured to operate a respective drag rope of an exemplary pair of drag ropes. In an exemplary embodiment, an exemplary excavation system may further include a pair of boom sheaves, where each boom sheave of an exemplary pair of boom sheaves may be mounted on a respective second end of each corresponding elongated pole of an exemplary first pair of parallel elongated poles. Each boom sheave of an exemplary pair of boom sheaves may be configured to support a corresponding drag rope of an exemplary pair of drag ropes and change a direction of a corresponding drag rope movement.

In an exemplary embodiment, an exemplary robotic bucket mechanism may further include an air reservoir that may be mounted on an exemplary chassis. An exemplary air reservoir may be equipped with an air release valve. In an exemplary embodiment, an exemplary robotic bucket mechanism may further include a pair of propellers that may be mounted on both sides of an exemplary air reservoir. An exemplary pair of propellers may be driven by electric motors that may be coupled with each respective propeller of an exemplary pair of propellers.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features which are believed to be characteristic of the present disclosure, as to its structure, organization, use and method of operation, together with further objectives and advantages thereof, will be better understood from the following drawings in which a presently preferred embodiment of the present disclosure will now be illustrated by way of example. It is expressly understood, however, that the drawings are for illustration and description only and are not intended as a definition of the limits of the present disclosure. Embodiments of the present disclosure will now be described by way of example in association with the accompanying drawings in which:

FIG. 1A illustrates an excavation system, consistent with one or more exemplary embodiments of the present disclosure;

FIG. 1B illustrates a side-view of an excavation system, consistent with one or more exemplary embodiments of the present disclosure;

FIG. 2 illustrates a robotic bucket mechanism, consistent with one or more exemplary embodiments of the present disclosure;

FIG. 3 illustrates an excavation system with a boom fully extended, consistent with one or more exemplary embodiments of the present disclosure;

FIG. 4 illustrates a a robotic bucket mechanism equipped with an underwater propelling mechanism, consistent with one or more exemplary embodiments of the present disclosure; and

FIGS. 5A-5C illustrate a side view of an excavation system in operation, consistent with one or more exemplary embodiments of the present disclosure.

DETAILED DESCRIPTION

The novel features which are believed to be characteristic of the present disclosure, as to its structure, organization, use and method of operation, together with further objectives and advantages thereof, will be better understood from the following discussion.

The present disclosure is directed to exemplary embodiments of an exemplary dredging or excavating system that may include a robotic bucket mechanism capable of being steered toward an excavation site and a base unit equipped with a dragline, on which an exemplary robotic bucket mechanism may be mounted. An exemplary robotic bucket mechanism may include a bucket and may be steered toward a desired excavation site. For example, an exemplary robotic bucket mechanism may be positioned behind a pile of deposits on a riverbed with an open side of an exemplary bucket facing towards an exemplary pile of deposits, and then an exemplary dragline may be utilized to pull an exemplary robotic bucket mechanism towards an exemplary base unit, thereby picking up exemplary target materials by an exemplary bucket of an exemplary robotic bucket mechanism.

An exemplary robotic bucket mechanism may include an excavation bucket, which may be an enclosed vessel with an open side, through which exemplary target materials, such as mineral sediments or mud may be taken up and then discharged. An exemplary open side of an exemplary excavating bucket may include a lower lip, which may be provided with a cutting edge. An exemplary cutting edge of an open side of an exemplary excavating bucket may engage exemplary target material and may facilitate picking up exemplary target material into an exemplary excavating bucket.

An exemplary excavating bucket of an exemplary robotic bucket mechanism may be mounted on a pair of track assemblies that may be positioned on opposite sides of an exemplary bucket. Exemplary track assemblies may be operated by an actuator, such as a rotary motor, and may be utilized for moving an exemplary robotic bucket on a surface, such as ground or a riverbed. An exemplary controller within an exemplary base unit may be coupled with track assemblies and exemplary actuators of exemplary track assemblies. An exemplary controller may be configured to control the speed of each track assembly and by individually manipulating the speed of each track assembly, steer an exemplary robotic bucket mechanism to left or right.

An exemplary excavating bucket of an exemplary robotic bucket mechanism may further be coupled with a hydraulic actuating mechanism, where an exemplary hydraulic actuating mechanism may be configured to drive a tilting motion of an exemplary excavating bucket of an exemplary robotic bucket mechanism. An exemplary hydraulic actuating mechanism may include at least one hydraulic jack that may be coupled with an exemplary excavating bucket to actuate a tilting motion of an exemplary excavating bucket, as will be discussed later in this disclosure. An exemplary hydraulic actuating mechanism that may be coupled with an exemplary excavating bucket may further allow for adjusting a height of a lower lip of an open side of an exemplary excavating bucket from the ground. For example, when an exemplary robotic bucket mechanism is being steered and guided into position, an exemplary excavating bucket may be lifted up away from the ground surface utilizing an exemplary hydraulic actuating mechanism, and when an exemplary robotic bucket mechanism is positioned in a desired location, an exemplary excavating bucket may be lowered down toward the ground surface utilizing an exemplary hydraulic actuating mechanism.

In an exemplary embodiment, an exemplary robotic bucket mechanism may further be equipped with propellers and an air tank that may allow for an exemplary robotic bucket mechanism to not only be submerged in water, but also be steered within water like a submarine. Such an exemplary propeller and air tank may allow for a better positioning of an exemplary robotic bucket mechanism inside water environments, such as lakes or rivers. An exemplary air tank may be filled or emptied to manipulate the submergibility of an exemplary robotic bucket mechanism, while an exemplary propeller actuated by a motor may be utilized for actuating translational and rotational motions of an exemplary robotic bucket mechanism.

In operation, an exemplary robotic bucket mechanism may be positioned adjacent the ground or a surface, on which an exemplary robotic bucket mechanism is to be operated to pick up the desired materials, such as mineral sediments, mud, and valuable deposits. As used herein, an exemplary robotic bucket mechanism being positioned adjacent an exemplary surface may refer to positioning an exemplary robotic bucket mechanism on a target surface, such as a riverbed in a way that an open side of an excavating bucket of an exemplary robotic bucket mechanism may be positioned with an exemplary lower cutting edge of an exemplary excavating bucket adjacent the target surface facing towards exemplary target materials to be picked up.

An exemplary dragline of an exemplary base unit may be coupled with a rotary actuator, such as a winch and may be utilized for towing an exemplary robotic bucket mechanism forward across an exemplary target surface to excavate exemplary target materials. As used herein, towing forward may refer to pulling an exemplary robotic bucket mechanism utilizing an exemplary dragline towards an exemplary base unit, such that exemplary target materials may be engaged by a lower lip of an open side of an exemplary excavating bucket and thereby picking up exemplary target materials into an exemplary excavating bucket. To this end, an exemplary dragline may be coupled to both side walls of an exemplary open side of an exemplary excavating bucket. An exemplary actuator, such as an exemplary winch may be configured to provide an exemplary dragline with the required force to pull an exemplary robotic bucket mechanism.

Such combination of an exemplary dragline and an exemplary robotic bucket mechanism may allow for benefiting from controllability of a robotic bucket mechanism for a better positioning of an exemplary excavating bucket on a target surface, while benefiting from a higher towing capacity of an exemplary dragline. In other words, an exemplary dredging and excavating system may provide a better positioning of an excavating bucket on a target surface, even at further distances into a river or lake, and may further provide a large towing capacity to pick up heavier loads by an exemplary excavating bucket.

FIG. 1A illustrates a view of an excavation system 100, consistent with one or more exemplary embodiments of the present disclosure. FIG. 1B illustrates a side-view of excavation system 100, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, excavation system 100 may include a base unit 102, a boom 104 that may be mounted on base unit 102, a pair of drag ropes (106 a, 106 b) that may be coupled with boom 104, and a robotic bucket mechanism 108 that may be attached to pair of drag ropes (106 a, 106 b). In an exemplary embodiment, base unit 102 may include a mobile flatbed 110, on which robotic bucket mechanism 108 may be positioned and supported. In other words, base unit 102 may be configured as a flatbed truck and such configuration of base unit 102 and such positioning of robotic bucket mechanism 108 on top of mobile flatbed 110 may allow for transporting robotic bucket mechanism 108 to various desired locations for performing excavation or dredging. As used herein, a mobile flatbed may refer to a flatbed that may be able to move or be moved, such as a bed of a flatbed truck.

In an exemplary embodiment, base unit 102 may further include a retractable ramp 112 to allow robotic bucket mechanism 108 to move or be moved onto mobile flatbed 110. In an exemplary embodiment, retractable ramp 112 may be a U-shaped member including two spaced-apart elongated flat members (156 a, 156 b) that may be interconnected by a bottom cross member 158. In an exemplary embodiment, bottom cross member 158 may be extended along axis 120 and may be pivotally coupled with first edge 118 of mobile flatbed 110. In an exemplary embodiment, retractable ramp 112 may be pivotable about an axis 120 parallel with first edge 118 from an upright position (as illustrated in FIG. 1A) to a lowered position (As illustrated in FIG. 1B). As mentioned before, in an exemplary embodiment, retractable ramp 112 may be configured to provide a ramp between an exemplary ground surface 122 and mobile flatbed 110 in the lowered position. In other words, an upright position of retractable ramp 112 may correspond to retractable ramp 112 being perpendicular to a top flat surface 164 of mobile flatbed 110 and a lowered position of retractable ramp 112 may correspond to a distal end 116 of retractable ramp 112 being positioned on ground surface 122. In an exemplary embodiment, retractable ramp 112 in the lowered position may form a ramp between mobile flatbed 110 and ground surface 122. In an exemplary embodiment, retractable ramp 112 may either be manually pivoted about axis 120 from an upright position to a lowered position or automatically utilizing a motorized actuator (not illustrated).

In an exemplary embodiment, robotic bucket mechanism 108 may be supported on mobile flatbed 110 as illustrated in FIG. 1A, while retractable ramp 112 in the upright position may further function as an extra support for keeping robotic bucket mechanism 108 secured on mobile flatbed 110. In this configuration, where robotic bucket mechanism 108 is supported on mobile flatbed 110, base unit 102 may be utilized for transporting excavation system 100 to a desired location, for example to a riverbank or a lake shore. To this end, in an exemplary embodiment, base unit 102 may further include a drive mechanism 160, which may be driven by a motor (not illustrated). In an exemplary embodiment, drive mechanism 160 may include one of a plurality of wheels and a pair of track assemblies. In an exemplary embodiment, drive mechanism 160 may be move from one position to another, analogous to movements of a car utilizing wheels and a motor.

In an exemplary embodiment, when excavation system 100 is transported to a desired location, then retractable ramp 112 may be pivoted about axis 120 to an exemplary lowered position, as illustrated in FIG. 1B and robotic bucket mechanism 108 may be driven down retractable ramp 112 onto ground surface 122. In an exemplary embodiment, a desired location may refer to an excavation site near a lake. In an exemplary embodiment, a lowered position may refer to retractable ramp 112 being pivoted about axis 120 to the point where distal end 116 of retractable ramp 112 being position on ground surface 122.

FIG. 2 illustrates a robotic bucket mechanism 200, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, robotic bucket mechanism 200 may be structurally similar to robotic bucket mechanism 108 and may include an undercarriage drive 202, and a chassis 204 that may be mounted on undercarriage drive 202. In an exemplary embodiment, such mounting of chassis 204 on undercarriage drive 202 may allow for robotic bucket mechanism 200 to be driven on a ground surface such as ground surface 122 independent from a base unit similar to base unit 102. Accordingly, robotic bucket mechanism 200 may move up retractable ramp 112 onto mobile flatbed 110 or move down retractable ramp 112 off of mobile flatbed 110 utilizing undercarriage drive 202. In an exemplary embodiment, undercarriage drive 202 may be driven or moved by a motor (not illustrated), such as an internal combustion engine or an electric motor.

In an exemplary embodiment, robotic bucket mechanism 200 may further include an excavating bucket 206 that may be mounted on chassis 204. As used herein, an excavating bucket may refer to a bucket made of steel that may have a cutting edge that may be able to rip through hard material. An exemplary excavating bucket may be one of a ditching bucket or a trenching bucket. For example, excavating bucket 206 may include a ditching bucket, which may have no teeth on a cutting edge of the bucket. Such cutting edge design of excavating bucket 206 without teeth may make excavating bucket 206 suitable for applications that may not require tough digging, such as ditch maintenance, grading, and slope work. However, excavating bucket 206 may also be configured as a trenching bucket with teeth on a cutting edge of excavating bucket 206. Such configuration of excavating bucket 206 with teeth makes it suitable for tough digging and trenching applications.

In an exemplary embedment, excavating bucket 206 may include an outwardly convex back panel 208 that may be enclosed on both sides by spaced parallel side panels (232 a, 232 b). In an exemplary embodiment, excavating bucket 206 may further include an open front 234 with a lower cutting edge 236. As used herein, open front 234 may refer to an opening on excavating bucket 206 surrounded by front edges 238 a-d of convex back panel 208 and side panels (232 a, 232 b). In an exemplary embodiment, open front 234 may function as a mouth that may allow for receiving materials into excavating bucket 206. In an exemplary embodiment, front edge 238 d may function as lower cutting edge 236. In an exemplary embodiment, in operation, where excavating bucket 206 is positioned adjacent ground surface 122, lower cutting edge 236 may engage materials that are to be excavated or removed and thereby facilitates the material intake by excavating bucket 206. In an exemplary embodiment, drag ropes (106 a, 106 b) may be attached to both sides of open front 234 on front edges (238 a, 238 c).

In an exemplary embodiment, robotic bucket mechanism 200 may further include a pair of hydraulic lift actuators (240 a, 240 b) that may be coupled between chassis 204 and spaced parallel side panels (232 a, 232 b) on opposite sides of excavating bucket 206 at pivot points (242 a, 242 b) on respective spaced parallel side panels (232 a, 232 b). In an exemplary embodiment, pivot points (242 a, 242 b) may be aligned with each other along a normal axis 244 of spaced parallel side panels (232 a, 232 b). As used herein, a normal axis of an object may refer to an axis perpendicular to the largest surface of that object.

In an exemplary embodiment, each hydraulic lift actuator of pair of hydraulic lift actuators (240 a, 240 b) may include a hydraulic piston-and-cylinder unit, where piston and cylinder may be moved relative to each other by exerting hydraulic pressure within cylinder. In an exemplary embodiment, each hydraulic lift actuator of pair of hydraulic lift actuators (240 a, 240 b) may be extendable along an axis 246 perpendicular to normal axis 244 of spaced parallel side panels (232 a, 232 b). In an exemplary embodiment, such arrangement of hydraulic lift actuators (240 a, 240 b) may allow for actuating a linear movement of open front 234 along axis 246.

In an exemplary embodiment, robotic bucket mechanism 200 may further include a hydraulic tilt actuator 248 that may be mounted between chassis 204 and outwardly convex back panel 208. In an exemplary embodiment, a first end 250 of hydraulic tilt actuator 248 may be pivotally coupled with chassis 204 and a second end 252 of hydraulic tilt actuator 248 may be pivotally coupled with outwardly convex back panel 208. In an exemplary embodiment, hydraulic tilt actuator 248 may include a hydraulic piston-and-cylinder unit, where piston and cylinder may be moved relative to each other by exerting hydraulic pressure within cylinder. In an exemplary embodiment, hydraulic tilt actuator 248 may be configured to tilt excavating bucket 206 about a pivot axis 254 that may be defined by pivot points (242 a, 242 b).

In an exemplary embodiment, outwardly convex back panel 208 may enclose top, back, and bottom portions of excavating bucket 206 and may form a convex apex 231 on a rear side of excavating bucket 206, opposite open front 234 of excavating bucket 206. In an exemplary embodiment, hydraulic tilt actuator 248 may be coupled between chassis 204 and convex apex 231. In an exemplary embodiment, first end 250 of hydraulic tilt actuator 248 may be coupled to chassis 204 utilizing a first single-axis pivot joint 251 that may allow for hydraulic tilt actuator 248 to pivot relative to chassis 204 about a pivot axis parallel with pivot axis 254. In an exemplary embodiment, second end 252 of hydraulic tilt actuator 248 may be coupled to excavating bucket 206 utilizing a second single-axis pivot joint 155 that may allow for hydraulic tilt actuator 248 to pivot relative to excavating bucket 206 about a pivot axis parallel with pivot axis 254.

FIG. 3 illustrates excavation system 300 with a fully extended boom 304, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, fully extended boom 304 may be structurally similar to boom 104 and may include a first pair of parallel elongated poles (362 a, 362 b) similar to first pair of parallel elongated poles (162 a, 162 b) that may be mounted on a mobile flatbed 310 similar to mobile flatbed 110. In an exemplary embodiment, a first end of each elongated pole of first pair of parallel elongated poles (362 a, 362 b) may be pivotally coupled with a top flat surface 364 of mobile flatbed 310. For example, a first end 366 of a first elongated pole 362 a may be pivotally coupled with top flat surface 364 of mobile flatbed 310 at a first pivot point 368, and a first end 370 of a second elongated pole 362 b may be pivotally coupled with top flat surface 364 of mobile flatbed 310 at a second pivot point 372. In an exemplary embodiment, first pair of parallel elongated poles (362 a, 362 b) may pivot relative to top flat surface 364 about a pivot axis 374, which is mutually perpendicular with a normal axis 363 of top flat surface 364 and a longitudinal axis 376 of mobile flatbed 310. As used herein, a longitudinal axis may refer to an axis associated with the longest dimension of an object.

In an exemplary embodiment, boom 304 may further include a second pair of parallel elongated poles (378 a, 378 b) that may be pivotally coupled with first pair of parallel elongated poles (362 a, 362 b) to form an extendable structure for boom 304, in which first pair of parallel elongated poles (362 a, 362 b) may function as a main boom and second pair of parallel elongated poles (378 a, 378 b) may function as a support structure. In other words, first pair of parallel elongated poles (362 a, 362 b) may rest upon second pair of parallel elongated poles (378 a, 378 b), when the extendable structure of boom is extended (as illustrated in FIG. 3 ). In an exemplary embodiment, a first end of each elongated pole of second pair of parallel elongated poles (378 a, 378 b) may be pivotally coupled with a second end of each corresponding elongated pole of first pair of parallel elongated poles (362 a, 362 b). For example, a first end 380 of first elongated pole 378 a may be pivotally coupled with a second end 382 of first elongated pole 362 a at a first pivot point 386 a and a first end 384 of second elongated pole 378 b may be pivotally coupled with a second end 185 of second elongated pole 362 b at a second pivot point 386 b.

In an exemplary embodiment, a first proximal linear actuator 188 a may be coupled between top flat surface 164 and first elongated pole 162 a to actuate a pivotal rotation of first elongated pole 162 a about axis 174. In an exemplary embodiment, a second proximal linear actuator 188 b may be coupled between top flat surface 164 and second elongated pole 162 b to actuate a pivotal rotation of second elongated pole 162 b about axis 174. In an exemplary embodiment, first proximal linear actuator 188 a and second proximal linear actuator 188 b may be configured to operate simultaneously, such that first elongated pole 162 a and second elongated pole 162 b may always be parallel with each other during the pivoting motion about axis 174. In an exemplary embodiment, first proximal linear actuator 188 a and second proximal linear actuator 188 b may be structurally similar and each may include a hydraulic piston-and-cylinder unit, where piston and cylinder may be moved relative to each other by exerting hydraulic pressure within cylinder.

In an exemplary embodiment, a first distal linear actuator 190 a may be coupled between first elongated pole 178 a and first elongated pole 162 a to actuate a pivotal rotation of first elongated pole 162 a and first elongated pole 178 a with respect to each other at first pivot point 186 a. In an exemplary embodiment, a second distal linear actuator 190 b may be coupled between second elongated pole 178 b and second elongated pole 162 b to actuate a pivotal rotation of second elongated pole 162 b and second elongated pole 178 b with respect to each other at second pivot point 186 b. In an exemplary embodiment, first distal linear actuator 190 a and second distal linear actuator 190 b may be structurally similar and each may include a hydraulic piston-and-cylinder unit, where piston and cylinder may be moved relative to each other by exerting hydraulic pressure within cylinder.

In an exemplary embodiment, boom 104 may be actuated between a retracted position (as shown in FIG. 1 ) and an extended position (similar to boom 304 in FIG. 3 ). In other words, during transportation, boom 104 may be retracted to a retracted position (as shown in FIG. 1 ) and during operation, boom 104 may be extended to an extended position (similar to boom 304 in FIG. 3 ). In an exemplary embodiment, second pair of parallel elongated poles (178 a, 178 b) may further be interconnected by a lower cross beam 192. In an exemplary embodiment, lower cross beam 192 may be extended along axis 120 and may provide extra support for boom 104 on ground surface 122.

In an exemplary embodiment, excavation system 100 may further include a pair of cable drums (194 a, 194 b) that may be mounted on both sides of base unit 102. In an exemplary embodiment, each cable drum of pair of cable drums (194 a, 194 b) may be configured to pull or release a respective drag rope of pair of drag ropes (106 a, 106 b) by wrapping or unwrapping a respective drag rope of pair of drag ropes (106 a, 106 b), as explained in detail below. For example, first cable drum 194 a may be coupled with first drag rope 106 a such that first drag rope 106 a may be wound or unwound around first cable drum 194 a in response to first cable drum 194 a rotating in a clockwise or counterclockwise direction. Similarly, second cable drum 194 b may be coupled with second drag rope 106 a such that second drag rope 106 a may be wound or unwound around second cable drum 194 b in response to second cable drum 194 b rotating in a clockwise or counterclockwise direction. In an exemplary embodiment, pair of cable drums (194 a, 194 b) may be rotated by an actuator, such as an electric motor.

In an exemplary embodiment, a first boom sheave 196 a may be mounted on second end 182 of first elongated pole 162 a, where first drag rope 106 a may be supported on first boom sheave 196 a. In an exemplary embodiment, first drag rope 106 a may easily move on first boom sheave 196 a in response to actuation by first cable drum 194 a and first boom sheave 196 a may be configured to change a direction of movement of first drag rope 106 a. In an exemplary embodiment, a second boom sheave 196 b may be mounted on second end 185 of second elongated pole 162 b, where second drag rope 106 b may be supported on second boom sheave 196 b. In an exemplary embodiment, second drag rope 106 b may easily move on second boom sheave 196 b in response to actuation by second cable drum 194 b and second boom sheave 196 b may be configured to change a direction of movement of second drag rope 106 b.

FIG. 4 illustrates a robotic bucket mechanism 400. In an exemplary embodiment, robotic bucket mechanism 400 may be similar to robotic bucket mechanism 200 but further equipped with an underwater propelling mechanism 498, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, underwater propelling mechanism 402 may include an air reservoir 404 that may be mounted over a chassis 406 by utilizing one or more mounting beams, such as mounting beams (408 a-408 d). In an exemplary embodiment, air reservoir 404 may have an air release mechanism (not illustrated) that may be utilized for discharging air from air reservoir and optionally replace it with water in order to manipulate submergibility of robotic bucket mechanism 400. For example, when robotic bucket mechanism 400 enters a water environment, such as a river or lake, in response to air reservoir 404 being filled with air, robotic bucket mechanism 400 may either float on water or may be partially submerged in water. In response to air being discharged from air reservoir 404 or air being partially replaced with water, robotic bucket mechanism 400 may sink in water until robotic bucket mechanism 400 may reach the bottom of a river or lake.

In an exemplary embodiment, underwater propelling mechanism 402 may further include one or more propellers, such as first propeller 410 a and second propeller 410 b, which may be mounted at both sides of air reservoir 404. In an exemplary embodiment, first propeller 410 a and second propeller 410 b may be coupled to respective actuators, such as electric motors (not illustrated) that may be configured to drive first propeller 410 a and second propeller 410 b. In an exemplary embodiment, a controller may individually control a propelling rate of each propeller in order to steer robotic bucket mechanism 400 by manipulating propelling rate of first propeller 410 a and second propeller 410 b, individually.

In an exemplary embodiment, air release mechanism of air reservoir 404 may include an air release valve (not illustrated) that may be coupled to a controller mounted in a base unit similar to base unit 102, where the controller may be configured to urge the air release valve to release air from the air reservoir in response to an opening command received from the controller.

FIGS. 5A-5C illustrates respective side views (502, 504, and 506) of an excavation system 500 in various stages of operation, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, a robotic bucket mechanism 508 similar to robotic bucket mechanism 200 may be loaded onto a base unit 510 similar to base unit 102 and then base unit 510 may be utilized as a flatbed truck to transport robotic bucket mechanism 500 to a riverside or a lake shore, such as riverside 512. In an exemplary embodiment, as mentioned before, during transportation of robotic bucket mechanism 500, a retractable ramp 514 of excavation system 500 similar to retractable ramp 112 may be in a retracted upright position and a boom 516 of excavation system 500 similar to boom 104 may also be in a retracted position to make room for robotic bucket mechanism 500 to be loaded on a flatbed 518 of excavation system 500. In an exemplary embodiment, when excavation system 500 is transported to a desired location, such as riverside 512, retractable ramp 514 may be lowered down to allow for robotic bucket mechanism 508 to be moved off of flatbed 518 onto ground surface 520 (as illustrated in view 502). After that, boom 516 may be extended outward to provide a vertical support for drag ropes 522 similar to drag ropes (106 a, 106 b).

In an exemplary embodiment, excavation system 500 may be utilized for picking up sediments and deposited materials, such as sediments 524 from riverbed 526. To this end, robotic bucket mechanism 508 may be steered utilizing a controller mounted in base unit 510 towards sediments 524 under water (as illustrated in view 504). In an exemplary embodiment, robotic bucket mechanism 508 may be positioned adjacent sediments 524, such that sediments 524 may be positioned between robotic bucket mechanism 508 and base unit 510 with an open front 534 of an excavating bucket 528 of robotic bucket mechanism 508 that may be structurally similar to open front 234 of excavating bucket 206 facing towards sediments 524. Referring back to FIG. 2 , robotic bucket mechanism 200 may further be equipped with a sensor system 210 that may include at least one image recording device, at least one global positioning system (GPS) sensor, at least one sonar, and other sensors for measuring environmental conditions such as temperature, pressure, humidity, etc. In an exemplary embodiment, data from sensor system 210 may be fed back to a user in base unit 102 and such data may be utilized for a precise positioning of robotic bucket mechanism 200 adjacent sediments 204.

Referring to view 504, in an exemplary embodiment, when robotic bucket mechanism 508 is positioned adjacent sediments 524, hydraulic lift actuators of robotic bucket mechanism 508 that may be structurally similar to hydraulic lift actuators (240 a, 240 b) may be utilized for lowering down a lower cutting edge of open front 534 similar to cutting edge 236 of open front 234 on riverbed 526. Here, cable drums 540 similar to cable drums (194 a, 194 b) may be activated to pull drag ropes 522 toward base unit 510. In an exemplary embodiment, cable drums 540 may provide a relatively high towing force and drag robotic bucket mechanism 508 towards sediment 524, where sediment 524 may be picked up by excavating bucket 528. In an exemplary embodiment, robotic bucket mechanism 508 may be pulled out of river onto riverside 542 9 as illustrated in view 506), where a hydraulic tilt actuator similar to hydraulic tilt actuator 248 may tilt excavating bucket 528, such that picked up materials inside excavating bucket 528 may be discharged or unloaded (as illustrated in view 506).

In an exemplary embodiment, the above described sequence of actions may be repeated a few times until all sediments 524 are removed from reverbed 526. In an exemplary embodiment, an excavation system such as excavation system 500 may allow for benefiting of a better controllability of an excavating robot such as robotic bucket mechanism 508 and a higher towing capacity of a dragline system such as dragline system mounted on base unit 510 simultaneously. Such combination may allow for developing an exemplary excavating system that may be utilized as an amphibian system.

The embodiments have been described above with the aid of functional building blocks illustrating the implementation of specified functions and relationships thereof. The boundaries of these functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternate boundaries can be defined so long as the specified functions and relationships thereof are appropriately performed.

The foregoing description of the specific embodiments will so fully reveal the general nature of the disclosure that others can, by applying knowledge within the skill of the art, readily modify and/or adapt for various applications such specific embodiments, without undue experimentation, without departing from the general concept of the present disclosure. Therefore, such adaptations and modifications are intended to be within the meaning and range of equivalents of the disclosed embodiments, based on the teaching and guidance presented herein. It is to be understood that the phraseology or terminology herein is for description and not of limitation, such that the terminology or phraseology of the present specification is to be interpreted by the skilled artisan in light of the teachings and guidance.

The breadth and scope of the present disclosure should not be limited by any of the above-described exemplary embodiments but should be defined only in accordance with the following claims and their equivalents.

Throughout this specification and the claims which follow, unless the context requires otherwise, the word “comprise”, and variations such as “comprises” or “comprising”, will be understood to imply the inclusion of a stated integer or step or group of integers or steps but not to the exclusion of any other integer or step or group of integers or steps. Moreover, the word “substantially” when used with an adjective or adverb is intended to enhance the scope of the particular characteristic, e.g., substantially planar is intended to mean planar, nearly planar and/or exhibiting characteristics associated with a planar element. Further use of relative terms such as “vertical”, “horizontal”, “up”, “down”, and “side-to-side” are used in a relative sense to the normal orientation of the apparatus. 

What is claimed is:
 1. An excavation system, comprising: a base unit; a boom mounted on the base unit; a pair of drag ropes coupled with the boom; and a robotic bucket mechanism attached to the pair of drag ropes, the robotic bucket mechanism comprising: an undercarriage drive; a chassis mounted on the undercarriage drive; an excavating bucket mounted on the chassis, the excavating bucket comprising an outwardly convex back panel enclosed on both sides by spaced parallel side panels and an open front with a lower cutting edge, each drag rope of the pair of drag ropes attached to a respective side of the open front; a pair of hydraulic lift actuators coupled between the chassis and the spaced parallel side panels on opposite sides of the excavating bucket at pivot points on respective spaced parallel side panels, the pivot points aligned with each other along normal axes of the spaced parallel side panels, each hydraulic lift actuator of the pair of hydraulic lift actuators extendable along an axis perpendicular to the normal axes of the spaced parallel side panels; and a hydraulic tilt actuator mounted between the chassis and the outwardly convex back panel, the tilt hydraulic actuator configured to tilt the excavating bucket about a pivot axis defined by the aligned pivot points.
 2. The excavation system of claim 1, wherein the base unit comprises a mobile flat bed, wherein the robotic bucket mechanism is moveable to a transportation position, the transportation position corresponding to the robotic bucket mechanism positioned and supported on a top flat surface of the mobile flat bed and moveable with the mobile flat bed.
 3. The excavation system of claim 2, wherein the base unit further comprises a retractable ramp, the retractable ramp comprising an elongated support member, a first end of the elongated support member pivotally coupled with a first edge of the flat bed, the elongated support member pivotable about an axis parallel with the first edge from an upright position to a lowered position, the elongated support member configured to provide a ramp between a ground surface and the mobile flat bed in the lowered position.
 4. The excavation system of claim 3, wherein the upright position corresponds to the elongated support member perpendicular to a plane of the mobile flat bed and the lowered position corresponds to a second opposite end of the elongated support member positioned on the ground surface.
 5. The excavation system of claim 3, wherein the base unit further comprises a drive mechanism driven by a motor, the drive mechanism comprising one of a plurality of wheels and a pair of track assemblies, the mobile flatbed mounted on the drive mechanism.
 6. The excavation system of claim 2, wherein the boom comprises: a first pair of parallel elongated poles, a first end of each elongated pole of the first pair of parallel elongated poles pivotally coupled with the top flat surface of the mobile flatbed; a second pair of parallel elongated poles, a first end of each elongated pole of the second pair of parallel elongated poles pivotally coupled with a second end of each corresponding elongated pole of the first pair of parallel elongated poles; and a first pair of linear actuators, each linear actuator of the first pair of linear actuators coupled between the top flat surface and a respective elongated pole of the first pair of elongated poles, the first pair of linear actuators configured to actuate a rotational movement of the first pair of elongated pole relative to the top flat surface; and a second pair of linear actuators, each linear actuator of the second pair of linear actuators coupled between each elongated pole of the second pair of parallel elongated poles and a respective elongated pole of the first pair of elongated poles, the second pair of linear actuators configured to actuate a rotational movement of the second pair of elongated poles relative to the first pair of elongated poles.
 7. The excavation system of claim 2, further comprising: a pair of cable drums mounted on both sides of the base unit, each cable drum of the pair of cable drums configured to wind/unwind a respective drag rope of the pair of drag ropes; and a pair of boom sheaves, each boom sheave of the pair of boom sheaves mounted on a respective second end of each corresponding elongated pole of the first pair of parallel elongated poles, each boom sheave of the pair of boom sheaves configured to support a corresponding drag rope of the pair of drag ropes and change a direction of the corresponding drag rope movement.
 8. The excavation system of claim 1, wherein the outwardly curved convex back panel comprises a convex apex formed on the excavating bucket on an opposite side of the open front of the excavating bucket, the hydraulic tilt actuator coupled between the chassis and the convex apex.
 9. The excavation system of claim 1, further comprising: an air reservoir mounted on the chassis, the air reservoir equipped with an air release valve; and a pair of propellers mounted on both sides of the air reservoir, the pair of propellers driven by electric motors coupled with each respective propeller of the pair of propellers. 